#ifndef DiffDriveBot_h
#define DiffDriveBot_h

#include "WProgram.h"

class DiffDriveBot
{	
	public:
		DiffDriveBot(int rf, int rb, int lf, int lb);
		void drive(char direction, int speed /* 0-100% */);
		void stop();
		void setLeftRightSpeedPerc(int left, int right);
		//void rotate(char direction, int degrees);
	private:
		int _rf;
		int _rb;
		int _lf;
		int _lb;
		int negleft;
		int negright;
};

class CServo
{
  public:
    CServo(int pin);
    void writeSpeed(int direction /*1=clockwise, 2=counterclockwise*/, int speedpercent /*0-100*/);
    void stop();
  private:
    int _spin;
    int direction;
    int speedpercent;
    int clockwise_speed;
    int cclockwise_speed;
};


#endif